RPAS activities at Universitat Politècnica de València (UPV)

Transcription

1 Workshop Ongoing Postgraduate and PhD research in RPAS domain RPAS activities at Universitat Politècnica de València (UPV) Joan Vila Carbó Universitat Politècnica de Valencia (UPV)

2 RPAS Activities at UPV Courses and Teaching RPAS activities at UPV Collaboration with industry Research lines 2

3 RPAS Activities at UPV Courses and Teaching RPAS activities at UPV Collaboration with industry Research lines 3

4 Courses and teaching Master in Aeronautical Engineering Elective subject: RPAS applications - Image transmission and processing applications RPAS-pilot Diploma DIPLOMA DE EXTENSIÓN UNIVERSITARIA EN PILOTAJE DE SISTEMAS DE AERONAVES TRIPULADOS POR CONTROL REMOTO (RPAS) http: rpas.upv.es 4

5 RPAS-pilot diploma RPAS license There is no specific RPAS official license yet, but the course contents are thought to meet requiring demands that could be established. Course contents meet current AESA requirements. Double diploma Staff - UPV Diploma on RPAS UPV specific title - E-ATO-072: Aeroclub Castellón AESA theory and practice certificates University staff Airline pilots (Air Nostrum) Flight instructors 5

6 RPAS-pilot diploma Contents 32 credits Level is similar to PPL or higher. Theory: Aircraft basic knowledge, Flight principles, Navigation, Communications, Operational procedures, Air law & Regulations, Meteorology, Human factors. Practice: Multicopters, fixed wing, simulator. 6

7 RPAS Activities at UPV Courses and Teaching RPAS activities at UPV Collaboration with industry Research lines 7

8 Collaboration with industry Hybrid VTOL UAV Collaboration with Quaternium combines: petrol engine & batteries 1120 mm MTOW 20.0 kg Weight 11.3 kg Payload 5.0 kg Cruise speed 80 km/h Increased endurance: 2 hours / full payload 4 hours / no payload 8

9 Collaboration with industry Hybrid VTOL UAV Collaboration lines with UPV - Improving robustness of Navigation System Redundant navigation - Improving the C2 link Improving range Reducing channels (C2, Telemetry, Video). 9

10 Collaboration with industry Hybrid VTOL UAV Redundant autopilot configuration CAN Failure sources must be carefully investigated to avoid common mode failures: Power supply glitches switch Motor PWM outputs Telemetry Electromagnetic noises Vibrations... 10

11 RPAS Activities at UPV Courses and Teaching RPAS activities at UPV Collaboration with industry Research lines 11

12 RPAS research lines at UPV Mission planning for RPAS Mission plan Mission planner Con$ngency... defini$on architecture management 12

13 Mission planning RPAS mission Flight phases: Take-off -> En-route -> Operations -> En-route -> Landing Example: LETL CMA Ing. IAF CMA LECH LOITER PT L2 SOPET1R SOPET CASINOS PASILLO N SGO SOBRO PASILLO S LEVC OPERATIONS AREA F15B LOITER PT L1 la Carbó 13

14 Mission planning Mission plan definition Based on extending flight plans based on ARINC-424 Path Terminators. - Take-off, En-route, Landing phases Flight plans for these phases must be submitted to ATC if the flight is in controlled areas. Mission plans can be implemented using a subset of ARINC-424 path terminators specifications. - Operations phase Flight plans do not need to include detailed operations since they usually take place out of controlled airspace. ATC, only needs authorizations and coordinates of operations area. Mission plans need to specify RPAS specific operations (SCAN, LOITER, SEARCH,...). A possible approach is using Extended Path Terminators (EPT). Flexibility for defining specific maneuvers required by the payload. 14

15 Mission planning Mission plan definition Mission plan Waypoint declaration Main plan List of EPT Alternative plan 1 (contingency) * Activation conditions List of EPT... Alternative plan n (contingency) * Activation conditions List of EPT 15

16 Mission planning Extended Path Terminators 16

17 Mission planning Mission plan definition List of EPT Path terminator WP1 WP2 ALT1 ALT2 SPD limit Course Fly over Radius Turn direction Limit Value Vertical angle CF MD N - R - 5.0% TF RBO (42) Y - R - 5.0% TF PINAR (77) Y - R - 3.3%... SF WP Y - R - 3.3%... IF PISAV F N TF MG N - R - - TF MG N TF MG N TF RWY Y % 17

18 Mission planning Software architecture Disengagement Contingency Mission plan Pilot commands Events Mission Plan Commands Strategic operation Tactical operation Mission layer Extended Path Terminators Sequencing layer Control modes Guidance layer Refs. for control system Control System Development platform 18

19 Mission planning Mission layer Strategic operation. Main goal: determining the next EPT to execute and send it to the Sequencing layer. Mission Plan and Pilot Commands processing Automatic Modes management: - Mission mode - Manual mode - Contingency mode Contingency Procedure management Event handling: - Contingency (C2 link loss, RA alert) - A/P disengagement - Preemptive event handling: a contingency event preempts the execution of the current EPT. Contingency mode Events Mission mode A/P Disengagement Contigency WP not reachable Flight envelope protection C2 link loss RA / Collision avoidance Manual mode 19

20 Mission planning FMS Flight Management Systems Sequencing layer Decompose EPT into LNAV and VNAV maneuvers SF WP Y - R - 3.3% LNAV VNAV WP in direct reachability zone WP out of direct reachability zone No specified FPA Required FPA Direct maneuver Dubins path Climb at constant SPD Climb at constant VS TRACK (Distance, Bearing) CIRCLE (Track) TRACK (Distance, Bearing) THRSPD() VSPEED (Altitude) THRVS() VPATH (Altitude) CIRCLE (Track) ALTITUDE () ALTITUDE () 20

21 Mission planning FMS Flight Management Systems Guidance layer Tactical operation Provides automatic control modes for the: - Roll - Pitch - Autothrottle Automatic control modes provide the target references for the control loops. Provides flight envelope protection and raises A/P disengagement. 21

22 RPAS research lines at UPV Mission planning for RPAS Mission plan Mission planner Con$ngency... defini$on architecture management 22

23 Contingency management Contingency alerts We restrict our attention to the following alerts: - C2 link loss is the most RPAS specific failure - A/P disengagement - RA (Resolution Advisory) alert - GPS loss 23

24 Contingency management Contingency alerts We restrict our attention to the following alerts: - C2 link loss is the most RPAS specific failure - A/P disengagement - RA (Resolution Advisory) alert - GPS loss Combinations of contingency alerts Nested alerts. They severely constrain the possible contingency procedures: most of them may imply flight termination. 24

25 Contingency management ConCngency management must be consistent with ICAO RPAS Manual 25

26 Contingency management Identification of lost C2 link condition Degradations in the C2 link transaction time and availability from whatever cause will, if severe enough, result in a lost C2 link condition Temporary interruptions to C2 link transmissions can occur at times While the C2 link is not available, the RPA is flying in a state where it is not under the command... there will be a time period beyond which continued flight in this manner may not be considered acceptable. - It is therefore important to determine the point at which a C2 link should be declared as being lost, (e.g. by display of a lost C2 link SSR code) at which point the lost C2 link procedure is initiated... - This time period Tsloss may need to be standardized Repeated, intermittent degradation of the C2 link, even if only for a short duration, should be assessed by the remote pilot with regard to the acceptability of continuing the planned flight. 26

27 Contingency management Lost C2 link contingency options The general principles of remaining predictable to other airspace users and minimizing the time of flight while not under command should be adhered to During the flight, based on position and latest meteorological information, the remote pilot should update the current alternate aerodrome in the RPA FMS so that in the event of a lost C2 link, the RPA s expected route will be predictable the criteria for selecting lost C2 link alternate flight options will need to be agreed by ATC on a case-by-case basis until ATC has confidence in the process. It may be possible to use the Mode S data link to provide the information to ATC. 27

28 Contingency management Lost C2 link contingency options There are five basic contingency options to be considered by the RPAS operator, - a) continue original flight plan - b) land at nearest appropriate designated landing site - c) direct return to departure aerodrome or departure site - d) flight termination - e) climb to altitude to attempt to regain the C2 link alternative plan alternative plan specific op. specific op. 28

29 RPAS research lines at UPV Thanks for your kind attention! 29

30 Extra slides 30

31 Collaboration with industry Redundant autopilot Arbitration - election of the ACTIVE autopilot is based on: - Mutual monitoring of the A/P Periodical I m alive messages sent to CAN bus by each A/P. - EKF health monitoring EKF estimates attitude, velocity, position using sensor fusion (IMU, GPS, baro, airspeed) Health monitoring is based on the evaluated level of noise - GPS health monitoring It depends on number of satellites and comparison with EKF estimations. Switch design is also a key issue - It must be simple and not subject to common mode failures 31

32 FMS Flight Management Systems Sequencing layer Decompose an EPT into their corresponding maneuvers for the: - LNAV profile, - VNAV profile LNAV and VNAV maneuvers are independent. Decompose maneuvers into a sequence of elementary control modes. - The sequence of elementary maneuvers is a function of the final state (position and attitude) which the maneuver is pursuing, and the RPAS current state. Control modes have an associated termination condition. - Termination conditions are used to disengage the currently armed control mode and engaging the next control mode in the sequence. 32

33 FMS Flight Management Systems TRACK CIRCLE CIRCLE DTK TRACK 33

34 FMS Flight Management Systems CIRCLE TRACK DTK CIRCLE TRACK HEADING 34